sts_behavior_tree_testing

Overview

This is a meta package to test the sts_behavior_tree library. It provides a server and client node.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• sts_behavior_tree_interface
• sts_behavior_tree

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_ws/src
git clone http://gitlab_al.streetscooter.eu/al_SW_Team/sts_behavior_tree_testing
cd ../
catkin build

Usage

Run the behavior tree server

roslaunch sts_behavior_tree_server tree.launch

Run the behavior tree client sts_behavior_tree_client

roslaunch sts_behavior_tree_client client.launch

Nodes

sts_behavior_tree_server

Provides a demo how to use the sts_bt_library to parse, build and execute behavior trees.

sts_behavior_tree_visualisation

Provides a graph visualization (using xdot) and will draw the behavior tree state accordingly during runtime.

sts_behavior_tree_client

Provides the behavior tree client node with a publisher, service server and action server which will be triggered and used by the sts_behavior_tree_server (running the behavior tree itself). It does that by using the sts_behavior_tree_interface implemented inside the sts_virtual_interfaces library.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.